Ground obstacle detection method based on binocular stereo vision of robot

Abstract

The invention discloses a ground obstacle detection method based on the binocular stereo vision of a robot, which belongs to the technical field of intelligent robots, and comprises the following steps that: according to the binocular baseline length and the focus, the ground parallax values of all rows in an image are analyzed through the geometrical configuration of the known image; based on the ground parallax values, a back projection model calculates the three-dimensional coordinates of a scene point corresponding to a pixel so as to initially judge whether the pixel belongs to an obstacle or a ground point; the obstacle and the ground point are respectively endowed with different colors; the results are post-processed and the false obstacle is removed; and three-dimensional errors are removed and a grid map is established. The method is applicable to various complicated indoor environments, can precisely identify various obstacles, has very high real-time performance, and provides very good preparation conditions for the robot to avoid obstacles.

Description

technical field The invention relates to a design system, in particular to a ground obstacle detection method based on robot binocular stereo vision, and belongs to the technical field of intelligent robots. Background technique In the process of autonomous exploration, obstacle avoidance is a necessary basic function of mobile robots. At present, most mobile robots use distance sensors for obstacle avoidance. While distance sensors can provide precise distance-orientation information about obstacles, they can only detect obstacles located on the scan plane, and vision systems can provide rich and real-time environmental information for mobile robots, so they have been extensively studied and apply. The obstacle avoidance algorithm usually consists of two parts: the obstacle detection algorithm is used to find and estimate the position and shape of the obstacle; the obstacle avoidance strategy is used to generate safe and effective motion control. The present invention m...

AI Technical Summary

Problems solved by technology

The purpose of the present invention is to solve the problems of large amount of calculation and incomplete environmental information in the current method of using stereo vision to establish a grid map, and to provide a ground obstacle detection method based on robot binocular stereo vision. Analyze the distribution of ground parallax, identify the ground and obstacles in the image, and finally control the robot to implement obstacle avoidance

Images